I ended up parking on the side of the road, and hiked in to the other side of the lake! There was a nice area that looked like someone had camped previously so I set up camp for the night there! There are many camp sites though, and they are all pretty nice, well kept, and all have bathrooms within a short walking distance. They are kind of close to one another, but everyone seemed pretty respectful. The road is actually pretty nice up there compared to most. There are also many hikes, and other lakes that are close by. Definitely hike on the PCT~